cmake_minimum_required(VERSION 3.0.2)
project(ras_pi)

find_package(catkin REQUIRED COMPONENTS
  message_generation  
  roscpp
  geometry_msgs
  nav_msgs
  sensor_msgs
  mavros
  std_msgs
  std_srvs
  tf
  tf2_ros
  tf2_eigen
  mavros_msgs
  prometheus_msgs
  tf2_geometry_msgs
  image_transport
  cv_bridge
  serial
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)

################################################
## Declare ROS messages, services and actions ##
################################################

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   geometry_msgs 
#   nav_msgs
#   sensor_msgs
#   std_msgs
#   prometheus_msgs
# )

find_package(OpenCV REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS message_runtime
)
###########
## Build ##
###########
include_directories(
  include
  ${OpenCV_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)


###############################
##      声明可执行cpp文件     ##
###############################

# 新添加的二维码降落模块

add_executable(set_controller_mode src/utils/set_controller_mode.cpp)
target_link_libraries(set_controller_mode ${catkin_LIBRARIES})